Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and structural ambiguity (symmetricity). However, these works demand prior information about shape attributes, and this condition is hardly satisfied in reality; even asymmetric objects may be symmetric under the viewpoint change. In addition, acquiring and fusing diverse sensor data is challenging when extending them to robotics applications. Tackling these limitations, we present an ambiguity-aware 6D object pose estimation network, PrimA6D++, as a generic uncertainty prediction method. The major challenges in pose estimation, such as occlusion and symmetry, can be handled in a generic manner based on the measured ambiguity of the prediction. Specifically, we devise a network to reconstruct the three rotation axis primitive images of a target object and predict the underlying uncertainty along each primitive axis. Leveraging the estimated uncertainty, we then optimize multi-object poses using visual measurements and camera poses by treating it as an object SLAM problem. The proposed method shows a significant performance improvement in T-LESS and YCB-Video datasets. We further demonstrate real-time scene recognition capability for visually-assisted robot manipulation. Our code and supplementary materials are available at https://github.com/rpmsnu/PrimA6D.Comment: IEEE Robotics and Automation Letter

Real quadratic fields admitting universal lattices of rank7

In this paper, we will prove that if $d$ is sufficiently large square-free positive rational integer, then there is no integral septenary universal quadratic lattice over $\mathcal{O}_F$ where $F=\mathbb Q(\sqrt{d})$

A past adapts to the future : an old Japanese city will adapt to the future with preserving its past

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Architecture; and, (M.C.P.)--Massachusetts Institute of Technology, Dept. of Urban Studies and Planning, 1990.Includes bibliographical references (leaves 151-157).Over the last quarter of a century, historic preservation has become a major component of urban revitalization in the US. Along with the cultural and economic benefits, the restoration of historic structures and environments has also produced a distinct improvement in the quality of life in several American cities. Japan, on the other hand, has only recently begun to recognize the potential contribution of historic preservation to urban revitalization; and, in general, its recent revitalization efforts, especially in several small cities, have not been well formulated or well executed. It is proposed here that small, declining Japanese cities can be revitalized, both economically and culturally, by making effective use of their historic resources. The concept of historic preservation as an urban revitalization tool is first discussed with emphasis on several major theories of preservation in an urban setting. Next, actual instances in which historic preservation was successfully integrated into urban revitalization programs are analyzed. Finally, a revitalization strategy for Otaru, a small declining city in northern Japan, is formulated based on the Urban Cultural Park concept implemented in the city of Lowell, Massachusetts.by Myung-hwan Kim.M.C.P.M.S

Current-Induced Resonant Motion of a Magnetic Vortex Core: Effect of Nonadiabatic Spin Torque

The current-induced resonant excitation of a magnetic vortex core is investigated by means of analytical and micromagnetic calculations. We find that the radius and the phase shift of the resonant motion are not correctly described by the analytical equations because of the dynamic distortion of a vortex core. In contrast, the initial tilting angle of a vortex core is free from the distortion and determined by the nonadiabaticity of the spin torque. It is insensitive to experimentally uncontrollable current-induced in-plane Oersted field. We propose that a time-resolved imaging of the very initial trajectory of a core is essential to experimentally estimate the nonadiabaticity.Comment: 4 pages, 4 figure

Structural and optical properties of ZnO nanorods by electrochemical growth using multi-walled carbon nanotube-composed seed layers

We reported the enhancement of the structural and optical properties of electrochemically synthesized zinc oxide [ZnO] nanorod arrays [NRAs] using the multi-walled carbon nanotube [MWCNT]-composed seed layers, which were formed by spin-coating the aqueous seed solution containing MWCNTs on the indium tin oxide-coated glass substrate. The MWCNT-composed seed layer served as the efficient nucleation surface as well as the film with better electrical conductivity, thus leading to a more uniform high-density ZnO NRAs with an improved crystal quality during the electrochemical deposition process. For ZnO NRAs grown on the seed layer containing MWCNTs (2 wt.%), the photoluminescence peak intensity of the near-band-edge emission at a wavelength of approximately 375 nm was enhanced by 2.8 times compared with that of the ZnO nanorods grown without the seed layer due to the high crystallinity of ZnO NRAs and the surface plasmon-meditated emission enhancement by MWCNTs. The effect of the MWCNT-composed seed layer on the surface wettability was also investigated

Towards Optimal Decoding for Polar Codes

In the conventional successive cancellation (SC) decoder for polar codes, all the future bits to be estimated later are treated as random variables. However, polar codes inevitably involve frozen bits, and their concatenated coding schemes also include parity bits causally generated from the past bits estimated earlier. We refer to the frozen and parity bits located behind a target decoding bit as its future constraints (FCs). Although the values of FCs are deterministic given the past estimates, they have not been exploited in the conventional SC-based decoders, not leading to optimality. In this paper, we propose SC-check (SCC) and belief-propagation SCC (BP-SCC) decoding algorithms in order to leverage FCs in decoding.We further devise a tree search technique based on stack-based backjumping (SBJ) to solve dynamic constraint satisfaction problems (CSPs) formulated by FCs. Over the binary erasure channel (BEC), numerical results show that a combination of the BP-SCC algorithm and the SBJ tree search technique achieves the erasure recovery performance close to the dependence testing (DT) bound, a bound of achievable finite-length performance